视觉辅助磁场分布测量机器人系统研究
|
摘要
多注速调管电磁聚焦系统是雷达系统的核心部件,其磁场分布是影响系统性能的关键。由于属于深孔检测的问题,且被测孔的分布很难定位,因此,电磁聚焦系统的磁场检测一直是困扰速调管研究与制造的一个难题。
本文在国家高技术研究发展计划(863计划)重大项目“L波段连续波多注宽带速调管”(2002AA872020)子项-“基于视觉定位的磁场分布检测系统开发”项目的支持下,以探头精密定位、智能检测、以及检测装备的开发为目的,开展了基于视觉导引和定位的深孔磁场分布测量机器人的深入研究。
论文的主要工作内容如下:
1.对L波段连续波多注宽带速调管电磁聚焦系统的结构、特性及磁场测量方法进行了分析,结合实际检测要求,设计了适用于电磁聚焦系统检测的基于视觉辅助磁场分布测量机器人系统的总体方案,并对磁场测量机器人系统的各个子系统进行了研究。
2.为保证检测数据的可靠性和设备的安全性,磁场测量前必须将探头调整至与电磁聚焦系统上表面垂直的位置。本文对基于P4P模型的摄影测量原理进行了深入研究,根据速调管电磁聚焦系统上表面的物理结构特点,针对性的提出了一种基于P4P模型的电磁聚焦系统姿态测量与调整方法,并对姿态测量过程中的自动调焦算法、图像降噪算法以及角点提取算法进行了深入研究。实验结果表明,提出的姿态测量及调整方法精度较高,容易实现,具有良好的适用性。
3.针对探头垂直调整之后的待测孔孔心精确定位问题,对一阶径向畸变模型下圆阵列的畸变特性进行了深入分析,提出了一种基于圆阵列的摄像机畸变参数求解方法和孔心定位方法,有效提高了电磁聚焦系统各待测孔心定位的准确性和快速性。
4.针对传统等间距磁场分布测量方法不能兼顾检测效率以及磁场变化细节描述的问题,对电磁聚焦系统磁场分布测量过程中动态调整采样间距的方法进行了深入研究。根据磁场分布测量的控制模型,提出了一种基于灰色预测-模糊逻辑模型的磁场分布测量方法,满足了系统根据磁场强度变化的缓急动态调整测量位置疏密程度的测试要求,在实际应用中取得了良好的测量控制效果。
5.根据机器视觉和机器人系统原理,针对多注速调管电磁聚焦系统磁场分布自动测量的精密、可靠、智能化和高效率的现代化检测要求,研制开发了视觉辅助磁场分布测量机器人系统样机的软硬件系统。目前,该系统已经在中国科学院电子学研究所成功投入到实际的检测应用中。
The electromagnetic focusing system of multi-beam klystron is a key part ofradar system, as well as its magnetic field distribution characteristics have animportant effect on the performance of radar. Because of the difficulty of detectionand location for deep hole, the measurement of magnetic field for electromagneticfocusing system is a difficult problem which has restricted the research anddevelopment of klystron for a long time.
This paper is supported by the sub-project, the magnetic field measuring systemwith vision positioning, of the national high technology research and developmentprogram (“863”Program) of China named L-Band and multi-beam continuous wavebroadband klystron (ID: 2002AA872020). Aiming at the key technologies andtheories of probe precise positioning and intelligent measurement, as well as thedevelopment of the measurement equipment, the robot system for magnetic fielddistribution measuring of deep hole based on visual guiding and locating is studied.
The main works of this paper are as follows:
1. The structure, properties and measuring methods of electromagnetic focusingsystem of the L-Band and multi-beam continuous wave broadband klystronare analyzed. Combined with the requirements of measurement, the generalscheme of robot system for magnetic field measuring is given, which issuitable for electromagnetic focusing system. The research works of therobot‘s sub-system are also carried out.
2. To guarantee the data reliability and safety of equipment, the probe must beadjusted to be perpendicular to the upper surface of the electromagneticfocusing system before measuring the magnetic field. The photogrammetrytheory based on P4P model is studied deeply. A pose measurement andadjustment method based on P4P model is proposed. The auto-focusingalgorithm, image denoise algorithm and corner extraction algorithm are alsodiscussed. The experiments show that this method can achieve higherprecision, and is easy to use.
3. According to the precision positioning problem of hole center after theadjustment of probe, the distortion characteristic of circle array with camera model of one order radial distortion is analyzed thoroughly, and then a newapproach for solving the camera distortion parameters and positioning thehole center based on circle array is proposed, which improves the accuracyand speed of positioning for electromagnetic focusing system effectively.
4. Due to the traditional magnetic measuring method with equal interval can notmeet the requirements of detection efficiency and details at the same time,the dynamic adjustment method of measurement intervals during the processof magnetic measuring is studied thoroughly. According to the control modelof magnetic measurement, a new measurement method based on greyprediction and fuzzy logic model is proposed, which can adjust themeasurement intervals dynamically by the change trend of magnetic field.And this method can achieve better measurement control effects inapplication.
5. According to the theory of machine vision and robot system, the visionassisted robot system for magnetic field measuring is developed, which canmeet the measurement requirements of multi-beam electromagnetic focusingsystem such as precision, reliability, intelligence and efficiency. And thismeasurement system has been put into use in institute of electronics, ChineseAcademy of Sciences successfully.
本文在国家高技术研究发展计划(863计划)重大项目“L波段连续波多注宽带速调管”(2002AA872020)子项-“基于视觉定位的磁场分布检测系统开发”项目的支持下,以探头精密定位、智能检测、以及检测装备的开发为目的,开展了基于视觉导引和定位的深孔磁场分布测量机器人的深入研究。
论文的主要工作内容如下:
1.对L波段连续波多注宽带速调管电磁聚焦系统的结构、特性及磁场测量方法进行了分析,结合实际检测要求,设计了适用于电磁聚焦系统检测的基于视觉辅助磁场分布测量机器人系统的总体方案,并对磁场测量机器人系统的各个子系统进行了研究。
2.为保证检测数据的可靠性和设备的安全性,磁场测量前必须将探头调整至与电磁聚焦系统上表面垂直的位置。本文对基于P4P模型的摄影测量原理进行了深入研究,根据速调管电磁聚焦系统上表面的物理结构特点,针对性的提出了一种基于P4P模型的电磁聚焦系统姿态测量与调整方法,并对姿态测量过程中的自动调焦算法、图像降噪算法以及角点提取算法进行了深入研究。实验结果表明,提出的姿态测量及调整方法精度较高,容易实现,具有良好的适用性。
3.针对探头垂直调整之后的待测孔孔心精确定位问题,对一阶径向畸变模型下圆阵列的畸变特性进行了深入分析,提出了一种基于圆阵列的摄像机畸变参数求解方法和孔心定位方法,有效提高了电磁聚焦系统各待测孔心定位的准确性和快速性。
4.针对传统等间距磁场分布测量方法不能兼顾检测效率以及磁场变化细节描述的问题,对电磁聚焦系统磁场分布测量过程中动态调整采样间距的方法进行了深入研究。根据磁场分布测量的控制模型,提出了一种基于灰色预测-模糊逻辑模型的磁场分布测量方法,满足了系统根据磁场强度变化的缓急动态调整测量位置疏密程度的测试要求,在实际应用中取得了良好的测量控制效果。
5.根据机器视觉和机器人系统原理,针对多注速调管电磁聚焦系统磁场分布自动测量的精密、可靠、智能化和高效率的现代化检测要求,研制开发了视觉辅助磁场分布测量机器人系统样机的软硬件系统。目前,该系统已经在中国科学院电子学研究所成功投入到实际的检测应用中。
The electromagnetic focusing system of multi-beam klystron is a key part ofradar system, as well as its magnetic field distribution characteristics have animportant effect on the performance of radar. Because of the difficulty of detectionand location for deep hole, the measurement of magnetic field for electromagneticfocusing system is a difficult problem which has restricted the research anddevelopment of klystron for a long time.
This paper is supported by the sub-project, the magnetic field measuring systemwith vision positioning, of the national high technology research and developmentprogram (“863”Program) of China named L-Band and multi-beam continuous wavebroadband klystron (ID: 2002AA872020). Aiming at the key technologies andtheories of probe precise positioning and intelligent measurement, as well as thedevelopment of the measurement equipment, the robot system for magnetic fielddistribution measuring of deep hole based on visual guiding and locating is studied.
The main works of this paper are as follows:
1. The structure, properties and measuring methods of electromagnetic focusingsystem of the L-Band and multi-beam continuous wave broadband klystronare analyzed. Combined with the requirements of measurement, the generalscheme of robot system for magnetic field measuring is given, which issuitable for electromagnetic focusing system. The research works of therobot‘s sub-system are also carried out.
2. To guarantee the data reliability and safety of equipment, the probe must beadjusted to be perpendicular to the upper surface of the electromagneticfocusing system before measuring the magnetic field. The photogrammetrytheory based on P4P model is studied deeply. A pose measurement andadjustment method based on P4P model is proposed. The auto-focusingalgorithm, image denoise algorithm and corner extraction algorithm are alsodiscussed. The experiments show that this method can achieve higherprecision, and is easy to use.
3. According to the precision positioning problem of hole center after theadjustment of probe, the distortion characteristic of circle array with camera model of one order radial distortion is analyzed thoroughly, and then a newapproach for solving the camera distortion parameters and positioning thehole center based on circle array is proposed, which improves the accuracyand speed of positioning for electromagnetic focusing system effectively.
4. Due to the traditional magnetic measuring method with equal interval can notmeet the requirements of detection efficiency and details at the same time,the dynamic adjustment method of measurement intervals during the processof magnetic measuring is studied thoroughly. According to the control modelof magnetic measurement, a new measurement method based on greyprediction and fuzzy logic model is proposed, which can adjust themeasurement intervals dynamically by the change trend of magnetic field.And this method can achieve better measurement control effects inapplication.
5. According to the theory of machine vision and robot system, the visionassisted robot system for magnetic field measuring is developed, which canmeet the measurement requirements of multi-beam electromagnetic focusingsystem such as precision, reliability, intelligence and efficiency. And thismeasurement system has been put into use in institute of electronics, ChineseAcademy of Sciences successfully.
引文
[1]毛振珑,磁场测量,北京:原子能出版社,1985
[2]李大明,磁场测量仪器及其发展趋势.电测与仪表,1983,6:9-17
[3]李大明,磁场的测量,北京:机械工业出版社,1993
[4]周凯,空间动态磁场测量装置的研制:[硕士学位论文],天津;天津大学,2005
[5] C. S. Hwang, T. C. Fan, F. Y. Lin, An overview of the magnet measurementdevelopmentatSRRC,IMMW12,Grenoble,France,2001
[6]朱建栋,特殊磁场定位测量系统的研究:[硕士学位论文],哈尔滨;沈阳工业大学,2006
[7] E.DeVita,D.Evans,P.A.Reeve,AutomatedComputerControledMagneticFieldSurveySystem,DesignNoteTRI-DN-84-70,TRIUMF,Vancouver,BC,Canada
[8] A. Harvey, Mechanical equipment for magnet measurement and alignment.CERN Accelerator School Magnetic Measurement and Alignment Proceedings(CERN92-05),1992,228-39
[9] O. Pagano, P. Rohmig, L. Walkiers etc. A Highly Automated Measuring Systemfor the LEP Magnetic Lenses. Journal de Physique Colloque, 1984, 45(C-1):949-952
[10] Yu.Eidelman, B.Deriy, O.Makarov etc. The New Magnetic MeasurementSystem at the Advanced Photon Source. 8th International Conference onAccelerator&LargeExperimentalPhysicsControlSystems,2001,160-163
[11]姚成贵,沈连官,合肥同步辐射实验室磁场测量系统.第二届全国加速器技术学术交流会论文集,北京:中国物理学会,1998(7):689-690
[12]杜泽清,我国工业磁测量技术与仪器设备.第六届国内外磁学与磁性材料发展及应用技术交流会议论文集,北京:中国电子学会,2003:233-235
[13]何源,韩少斐,马力祯等,兰州重离子加速器磁场测量系统.中国物理学会圆形加速器及其应用学术交流会,北京:中国物理学会,2000:257-262
[14] W. Chen, G. L. Ni, J. Chen etc, The Hall Probe Magnet Measurement FacilityforBEPCII.ProceedingsofAPAC2004,Gyeongju,Korea,2004:649-650
[15]朱建栋,曾林锁,谢德馨等,特殊磁场定位测量系统的研究及应用.华北电力大学学报,2005,12(z1):94-97
[16]陈棣湘,潘孟春,罗飞路,三维磁场精密测量系统的研制.测试技术学报,2005,19(3):279-282
[17]潘启军,马伟明,赵治华等,适用于舰船钢板地电流检测的新型磁场测量仪器设计.电工技术学报,2004,19(11):82-86
[18]张继东,曹瓒,任芳林等.上海同步辐射装置平移长线圈磁测机的研制.核技术,2003,26(5):333-336
[19]张继东,曹瓒,任芳林等,SSRF高精密度磁场测量系统的计算机控制.核技术,2003(5):285-288
[20]贾云得,机器视觉,北京:科学出版社,2000.1-6
[21] Takeuchi, Yoshinori, Ohnishi, et al. Active vision system based on informationtheory.SystemsandComputersinJapan,1998,29(11):31-39
[22] Sznaier,Mario,Camps, et al. Control issues in active vision: Open problems andsome answers. Proceedings of the IEEE Conference on Decision and Control,1998,3(5):3238-3244
[23] Sharma, Rajeev, Srinivasa, et al. Framework for active vision-based robotcontrolusingneuralnetworks.Robotica.1998.16(3):309-327
[24] Miura,Jun,Ikeuchi.Task-oriented generation of visual sensing strategies inassembly tasks.IEEE Transactions on Pattern Analysis and MachineIntelligence,1998,20(2):126-138
[25] Galloway, Robert L,Bass, et al.Task-oriented asymmetric multiprocessing forinteractiveimage-guidedsurgery.ParallelComputing,1998,24(9-10):1323-1343
[26]刘强,陈吉红,王平江,基于传感器信息融合的机器视觉检测系统.华中理工大学学报,1997,25(3):5-7
[27]杨照华,精细农业中基于机器视觉的杂草识别技术研究:[博士论文],哈尔滨;哈尔滨工业大学,2003
[28]陈世哲,微电子产品视觉检测中关键技术研究:[博士论文],哈尔滨;哈尔滨工业大学,2006
[29] Wang Keqi. AMachine Vision System for Inspecting Wood Surface Defects byUsing Neural Network. Journal of Northeast ForestryUniversity,1996,7(2):63-65
[30] FRANCI L,ROK B,,et al.Machine vision system for inspecting electricplates.ComputersinIndustry,2002,(47):113-122
[31] PFEIFER T,WIEGERS L.Reliable tool wear monitoring by optimized imageandilluminationcontrolinmachinevision.Measurement,2000(28):209-218
[32] COKAL E,ERDEN A. Development of an image processing system for aspecial purpose mobile robot navigation. Proceedings of Fourth AnnualConferenceonMechatronicsandMachinevisioninPratice.1997:246-252
[33]程明,黄晓阳,王博亮,医学图像中微细管道结构的提取.计算机工程与应用,2007,43(33):221-223
[34] Sammouda, M. Niki, N. Niki etc. Analysis of color images of tissues derivedfrom patients with adenocarcinoma of the lung. Proceedings of ICIP, 2000,1:192-195
[35]雷印胜,王明时,秦然,基于Gabor滤波器虚部的CT脑血管医学图像边缘特征提取方法.天津大学学报,2007,40(7):833-838
[36] Tian Dazeng, Ha Minghu. Applications of wavelet transform in medical imageprocessing.Proceedings of2004 International Conference onMachine LearningandCybernetics,2004,1816-1821
[37]方勤,王正友,煤矿地面车场的智能视觉监控.矿山机械,2006,34(6):59-61
[38]姚孝明,钱清泉,基于视觉的交通监控系统固定背景区段视频传输的研究.中国图象图形学报,2005,10(8):1042-1046
[39] Rudolf Richter, Afast atmospheric correction algorithm applied to Landsat TMimages.InternationalJournalofRemoteSensing,1990,11(1):159-166
[40]阮建武,邢立新,遥感数字图像的大气辐射校正应用研究.遥感技术与应用,2004,19(3):206-208
[41]张国敏,殷建平,祝恩等,遥感图像中基于视觉显著性的分层目标检测.吉林大学学报,2007,37(3):625-629
[42] BremnerJ F.Automaticvisioninspectionsystemfortheinspectionofshapescutin sheet material, Proceedings On Image Processing and itsApplications.1986:40-43
[43] M M Landman,S J Roberton.A flexible industrial system for automatedthree-dimensionalinspection,SPIE.1986,728:203-209
[44] MillsR.Developmentofaline-scancamerafor2Dhighaccuracymeasurement,MachineVision.1991:267-277
[45] L. Angrisani, P. Daponte, A. Pietrosanto etc..An image-based measurementsystem for the characterisation of automotive gaskets. Measurement1999,25(3)169-181
[46] D. Kosmopoulos, T. Varvarigou。Automated inspection of gaps on theautomobile production line through stereo vision and specular reflection.ComputersinIndustry,2001,46(1):49-63
[47] [49] F. Lahajnar, F. Pernus, S. Kovacic et al. Machine vision system forinspectingelectricplates.ComputerinIndustry,200247:113-122
[48] J. Jurkovic, M. Korosec, J. Kopac. New approach in tool wear measuringtechniqueusingCCDvisionsystem. International Journal ofMachineTools andManufacture,2005,4(9):1023-1030
[49] Dimitris Gorpas, Kostas Politopoulos, Dido Yova. A binocular machine visionsystem for three-dimensional surface measurement of small objects.ComputerizedMedicalImagingandGraphics,2007,31(8):625-637
[50] http://www.pptvision.com
[51]先武,张裕,李利平.机器视觉检测滚子表面缺陷.轴承,1991,6:39-43
[52]段发阶,叶声华,王春和等,拔丝模孔形计算机视觉检测技术.光电工程.1996,23(3):72-76
[53]单越康,卫力,毛谦敏,复杂几何形状零件自动检测.中国计量学院学报,1997, 2:38-47
[54]阮晓东,李世伦,诸葛良等,用立体视觉测量多自由度机械装置姿态的研究.中国机械工程,2000,11(5):571-573
[55]张爱武,李明哲,胡少兴等,基于计算机视觉的板类零件曲面测量系统.中国图象图形学报,2002,7(2):190-195
[56]黄劼,周肇飞,机器视觉精密测量系统研究.光学技术,2004,30(4):491-494
[57]张少军,苟中魁,李庆利等,利用数字图像处理技术测量直齿圆柱齿轮几何尺寸.光学精密工程,2004,12(6):619-625
[58]张广军,周富强,基于双圆特征的无人机着陆位置姿态视觉测量方法.航空学报,2005,26(3):344-348
[59]高学海,徐科军,张瀚,基于单目视觉和激光测距仪的位姿测量算法.仪器仪表学报,2007,28(8):1479-1485
[60]孟偲,王田苗,丑武胜,基于手眼视觉的测量与定位方法的研究与实现.中国空间科学技术,2002,12(6):18-25
[61] L. Franci, B.ROK, P. Franjoet, Machine vision system for inspecting electricplates.ComputersinIndustry,2002,47(1):113-122
[62]陶声祥,吴宜灿,基于双目视觉测量的放疗位置验证方法研究.核技术,2007,30(3):219-221
[63]陆建峰,杨静宇,胡雪蕾等,计算机辅助肺部小病灶穿刺定位系统的建立.临床肿瘤学杂志,2001,6(4):314-316
[64]彭刚,黄心汉,王敏等,基于视觉引导和超声测距的运动目标跟踪和抓取.高技术通讯,2002,12(6):74-78,82
[65] Perks,Andrew,Advancedvisionguidedrobotics provide"future-proof"flexibleautomation.Partsfeedingandpartspresentation,2006,26(3):216-220
[66] http://www.costind.gov.cn/n435777/n435943/n435949/n435995/129209.html
[67] SholnikM.I.FiftyYearsofRadar.ProceedingsoftheIEEE,1985,73(2):182-197
[68] Tronin A.A, Remote sensingand earthquakes: Areview. Physics and ChemistryoftheEarth,2006,31(4-9):138-142
[69]周伯行,国内外雷达发展现状与水平.现代雷达,1996(6):6-15
[70] Varian Russell H., Varian Sigurd F., A High Frequency Amplifier andOscillator. Journal of Applied Physics,1939,10:140
[71]林福民,大功率宽带多注速调管输出段的研究:[博士论文] ,北京;中国科学院研究生院,2003
[72]电子管设计手册编缉委员会,大功率速调管设计手册,北京:国防工业出版社,1979
[73]丁耀根,彭均,多注速调管——一种新型大功率微波放大器.电子科学学刊,1996,18(1):64-71
[74]丁耀根,多注速调管技术的新进展.真空电子技术,2002,8(5):8-15
[75]丁耀根,多注速调管电子光学系统的研究.电子科学学刊,2000,22(3):485-491
[76]丁耀根,朱允淑,殷岫龄,100kW L波段连续波多注宽带速调管的研究.中国电子学会真空电子学分会——第十四届年会论文集,2004,3-6
[77] Fishler MA, Bolles RC. Random sample consensus: a paradigm for modelfitting with applications to image analysis and automated cartography.CommunicationsoftheACM,1981,24(6):381-395
[78] Horaud R, Conio B, Leboulleux O. An analytic solution for the perspective4-point problem. Computer Vision Graphics and Image Processing, 1989,47:33-44
[79] Tang J L. On the number of solutions for the P4P problem. Journal ofMathematics,2006,26(2):137-141
[80] Haralick RM. Determining camera parameters from the perspective projectionofarectangle.PatternRecognition,1989,22(3):225-230
[81] PennaMA.Determiningcameraparametersfromtheperspectiveprojectionofaquadrilateral.PatternRecognition,1991,24(6):533-541
[82] Quan L, Lan ZD, Linear N>= 4 point pose determination. Proceedings of theInternationalConferenceonComputerVision.1998.778-783
[83] Liu ML, Wong KH. Pose estimation using four corresponding points. PatternRecognitionLetters,1999,20(1):69-74
[84] Dhome M, Richetin M, Lapreste JT, Rives G. Determination of the attitude of3-D objects from a single perspective view. IEEE Transactions on PatternAnalysisandmachineIntelligence,1989,11(12):1265-1278
[85] Abidi MA, Chandra T. A new efficient and direct solution for pose estimationusing quadrangular targets: algorithm and evaluation. IEEE Transactions onPAMI,1995,17(5):534-538
[86]胡占义,雷成,吴福超,关于P4P问题的一点讨论.自动化学报,2001,27(6):770-776
[87] Hu ZY, Wu FC. A note on the number of solutions of the non-coplanar P4Pproblem. IEEE Transactions on Pattern Analysis and Machine Intelligence,2002,24(4):550-555
[88] Faig. W. Calibration of close-range photogrammetric systems: mathematicalformulation. Photogrammetric Engineering and Remote Sensing, 1975 ,41(12):1479-1486
[89] Tsai R Y. A versatile camera calibration technique for high-accuracy 3Dmachine vision metrology using off-the-shelf TV cameras and lenses. IEEEJournalofRoboticsandAutomation,1987,RA-3(4):323-344
[90] Wang L L, Tsai W H. Camera calibration by vanishing lines for 3-D computervision. IEEE Transactions on Pattern Analysis and Machine Intelligence,1991,13(4):370-376
[91] Guiducci A. 3D road reconstruction from a single view. Computer Vision andImageUnderstanding,1998,70(2):212-226
[92]姜大志,孙俊兰,郁倩,标准图形法求解相机镜头非线性畸变的研究.东南大学学报,2001,31(4): 111-116
[93]马颂德,张正友,计算机视觉—计算理论与算法基础,北京:科学出版社,1998.52-93
[94] PRESCOTT B, MCLCAN G. Line-based correction of radial lens distortion.GraphicalModelsandImageProcessing,1997,59(1):39-47
[95] DEVERNAY F, FAUGERASO. Straight lines have to be straight. MachineVisionandApplications,2001,13(1):14-24
[96]郑毅,刘上乾,利用直线特征的定标图像非线性畸变校正.仪器仪表学报,2007,28(8):1479-1485
[97]刘君,刘江春,晏克俊,光学三角法高精度自动调焦系统设计.西安理工大学学报, 2004,20(1):63-66
[98]胡涛,陈世哲,刘国栋等,显微视觉系统中自动调焦评价函数的选取.半导体光电,2006,27(2):216-220
[99]鲍歌堂,赵辉,陶卫,图像测量技术中几种自动调焦算法的对比分析.2004,39(1):120-124
[100] Subbaro M ,Choi T. Focusing Techniques. Optical Engineering ,1993 ,32(11):2824-2836
[101]康宗明,张利,谢攀,一种基于能量和熵的自动聚焦算法.电子学报,2003,31(4):552-555
[102]朱铮涛,黎绍发,陈华平,基于图像熵的自动聚焦函数研究.光学精密工程,2004,12(5):537-542
[103] Subbarao M , Tyan J K. Selecting the optimal focus measure for autofocusingand depth-f rom-focus. IEEE Trans. on Pattern Analysis and MachineIntelligence.1998,20(8):864-870
[104] Nayar S K,Nakagawa Y. Shape f rom focus . IEEE Trans. on Pattern AnalysisandMachineIntelligence,1994,16(8):824-831
[105] Harris C G, Stephens M J. Acombined corner and edge detector, ProceedingsofFourthAlveyVisionConference,Manchester,UK,1988:147-151
[106] P. Tissainayagam, D. Suter. Assessing the performance of corner detectors forpoint feature tracking applications. Image and Vision Computing, 2004, 22:663-679
[107]梁志敏,高洪明,王志江等,摄像机标定中亚像素级角点检测算法.焊接学报,2006,27(2):102-104
[108] Milan Sonka, Vaclav Hlavac, Roger Boyle. Image Processing, Analysis, andMachineVision.USA:ThomsonLearningandPTPress,1998.60-62
[109] Edward P Lyvers, Owen Robert Mitchell Subpixel Measurements Using aMoment-Based Edge Operator. IEEE Transactions on Pattern Analysis andMachineIntelligence,1989,11(12):1293-1307
[110]王建民,浦昭邦,尹继学,空间矩亚像素细分算法的研究.光学技术,1999,4:3-6
[111] Moura L, Kitney R. A Direct Method for Least-Squares Circle Fitting.ComputerPhysicsCommunications,1991,64(1):57-63
[112]邓聚龙,灰色控制系统,武汉:华中理工大学出版社,1993
[113]傅立,灰色系统理论及其应用,北京:科学技术文献出版社,1992
[114]刘思峰,郭天榜,党耀国等,灰色系统理论及其应用,北京:科学出版社,1999
[115]杨丽娟,李国勇,马志芳,步长自调整的预测模糊控制器的研究.太原理工大学学报,2006,37(5):536-538
[116]肖聚亮,建筑物迁移动力系统智能监控研究与应用:[博士论文] ,天津;天津大学,2006
[117]邹健,诸静,智能预测控制及其应用研究:[博士论文] ,浙江;浙江大学,2002
[118] E. Q. Zhang, Z. X. Weng. Recent Researches and Developments on FuzzyControlSystem.ControlTheoryandApplications.2001,18(1):7-11
[119]邹键,杨莹春,诸静,基于灰色模型的预测模糊控制策略及其应用研究.中国电机工程学报,2002,22(9):12-14
[120] HM Feng,CC Wong,A on-line rule tuning grey prediction fuzzy controlsystem design,Proceedings of the 2002 International Joint Conference onNeuralNetworks,2002,5:1316-1321
[121] RJLian,BFLin,JHHuang,Agreypredictionfuzzycontrollerforconstantcuttingforceinturning,Machinetool&Manufacture,2005,45:1047-1056
[122] YPHuang,CHHuang,Agenetic-basedfuzzygreypredictionmodel,IEEEInternationalConferenceon“Intelligentsystemforthe21Century”,1995,10:1051-1056
[123]王军平,王安,敬忠良等,Fuzzy-grey预测控制算法及应用.系统工程理论与实践,2002,8:132-135
[124]李言旭,孙德新,刘银年,基于多项式拟合的红外焦平面非均匀性校正.红外与激光,2005,35(2):104-107
[125] F. Cazals, M. Pouget, Estimating differential quantities using polynomialfitting of osculating jets, Computer Aided Geometric Design,2005,22(2):121-146
[126] Feng Gan, Guihua Ruan, Jinyuan Mo, Baseline correction by improvediterative polynomial fitting with automatic threshold, Chemometrics andIntelligentLaboratorySystems, 2006,82(2):59-65
[127]赵文彬,杨福增,张艳宁,基于多项式拟合的颅骨特征识别.北京生物医学工程,2007,26(5):454-457
[128]余志强,刘建华,何朝峰等,巴特沃兹数字滤波及其在智能测控系统中的应用.电测与仪表,2007,44(5):5-8
[129]王彤,刘相华,王国栋等,热轧带钢厚差诊断专家系统的数据采集与处理系统.中国有色金属学报,1999,9(4):873-877
[130] RogerG.T.Mello,Liliam F.Oliveira,JurandirNadal,DigitalButterworthfilterfor subtracting noise from low magnitude surface electromyogram. ComputerMethodsandProgramsinBiomedicine, 2007,87(1):28-35
[2]李大明,磁场测量仪器及其发展趋势.电测与仪表,1983,6:9-17
[3]李大明,磁场的测量,北京:机械工业出版社,1993
[4]周凯,空间动态磁场测量装置的研制:[硕士学位论文],天津;天津大学,2005
[5] C. S. Hwang, T. C. Fan, F. Y. Lin, An overview of the magnet measurementdevelopmentatSRRC,IMMW12,Grenoble,France,2001
[6]朱建栋,特殊磁场定位测量系统的研究:[硕士学位论文],哈尔滨;沈阳工业大学,2006
[7] E.DeVita,D.Evans,P.A.Reeve,AutomatedComputerControledMagneticFieldSurveySystem,DesignNoteTRI-DN-84-70,TRIUMF,Vancouver,BC,Canada
[8] A. Harvey, Mechanical equipment for magnet measurement and alignment.CERN Accelerator School Magnetic Measurement and Alignment Proceedings(CERN92-05),1992,228-39
[9] O. Pagano, P. Rohmig, L. Walkiers etc. A Highly Automated Measuring Systemfor the LEP Magnetic Lenses. Journal de Physique Colloque, 1984, 45(C-1):949-952
[10] Yu.Eidelman, B.Deriy, O.Makarov etc. The New Magnetic MeasurementSystem at the Advanced Photon Source. 8th International Conference onAccelerator&LargeExperimentalPhysicsControlSystems,2001,160-163
[11]姚成贵,沈连官,合肥同步辐射实验室磁场测量系统.第二届全国加速器技术学术交流会论文集,北京:中国物理学会,1998(7):689-690
[12]杜泽清,我国工业磁测量技术与仪器设备.第六届国内外磁学与磁性材料发展及应用技术交流会议论文集,北京:中国电子学会,2003:233-235
[13]何源,韩少斐,马力祯等,兰州重离子加速器磁场测量系统.中国物理学会圆形加速器及其应用学术交流会,北京:中国物理学会,2000:257-262
[14] W. Chen, G. L. Ni, J. Chen etc, The Hall Probe Magnet Measurement FacilityforBEPCII.ProceedingsofAPAC2004,Gyeongju,Korea,2004:649-650
[15]朱建栋,曾林锁,谢德馨等,特殊磁场定位测量系统的研究及应用.华北电力大学学报,2005,12(z1):94-97
[16]陈棣湘,潘孟春,罗飞路,三维磁场精密测量系统的研制.测试技术学报,2005,19(3):279-282
[17]潘启军,马伟明,赵治华等,适用于舰船钢板地电流检测的新型磁场测量仪器设计.电工技术学报,2004,19(11):82-86
[18]张继东,曹瓒,任芳林等.上海同步辐射装置平移长线圈磁测机的研制.核技术,2003,26(5):333-336
[19]张继东,曹瓒,任芳林等,SSRF高精密度磁场测量系统的计算机控制.核技术,2003(5):285-288
[20]贾云得,机器视觉,北京:科学出版社,2000.1-6
[21] Takeuchi, Yoshinori, Ohnishi, et al. Active vision system based on informationtheory.SystemsandComputersinJapan,1998,29(11):31-39
[22] Sznaier,Mario,Camps, et al. Control issues in active vision: Open problems andsome answers. Proceedings of the IEEE Conference on Decision and Control,1998,3(5):3238-3244
[23] Sharma, Rajeev, Srinivasa, et al. Framework for active vision-based robotcontrolusingneuralnetworks.Robotica.1998.16(3):309-327
[24] Miura,Jun,Ikeuchi.Task-oriented generation of visual sensing strategies inassembly tasks.IEEE Transactions on Pattern Analysis and MachineIntelligence,1998,20(2):126-138
[25] Galloway, Robert L,Bass, et al.Task-oriented asymmetric multiprocessing forinteractiveimage-guidedsurgery.ParallelComputing,1998,24(9-10):1323-1343
[26]刘强,陈吉红,王平江,基于传感器信息融合的机器视觉检测系统.华中理工大学学报,1997,25(3):5-7
[27]杨照华,精细农业中基于机器视觉的杂草识别技术研究:[博士论文],哈尔滨;哈尔滨工业大学,2003
[28]陈世哲,微电子产品视觉检测中关键技术研究:[博士论文],哈尔滨;哈尔滨工业大学,2006
[29] Wang Keqi. AMachine Vision System for Inspecting Wood Surface Defects byUsing Neural Network. Journal of Northeast ForestryUniversity,1996,7(2):63-65
[30] FRANCI L,ROK B,,et al.Machine vision system for inspecting electricplates.ComputersinIndustry,2002,(47):113-122
[31] PFEIFER T,WIEGERS L.Reliable tool wear monitoring by optimized imageandilluminationcontrolinmachinevision.Measurement,2000(28):209-218
[32] COKAL E,ERDEN A. Development of an image processing system for aspecial purpose mobile robot navigation. Proceedings of Fourth AnnualConferenceonMechatronicsandMachinevisioninPratice.1997:246-252
[33]程明,黄晓阳,王博亮,医学图像中微细管道结构的提取.计算机工程与应用,2007,43(33):221-223
[34] Sammouda, M. Niki, N. Niki etc. Analysis of color images of tissues derivedfrom patients with adenocarcinoma of the lung. Proceedings of ICIP, 2000,1:192-195
[35]雷印胜,王明时,秦然,基于Gabor滤波器虚部的CT脑血管医学图像边缘特征提取方法.天津大学学报,2007,40(7):833-838
[36] Tian Dazeng, Ha Minghu. Applications of wavelet transform in medical imageprocessing.Proceedings of2004 International Conference onMachine LearningandCybernetics,2004,1816-1821
[37]方勤,王正友,煤矿地面车场的智能视觉监控.矿山机械,2006,34(6):59-61
[38]姚孝明,钱清泉,基于视觉的交通监控系统固定背景区段视频传输的研究.中国图象图形学报,2005,10(8):1042-1046
[39] Rudolf Richter, Afast atmospheric correction algorithm applied to Landsat TMimages.InternationalJournalofRemoteSensing,1990,11(1):159-166
[40]阮建武,邢立新,遥感数字图像的大气辐射校正应用研究.遥感技术与应用,2004,19(3):206-208
[41]张国敏,殷建平,祝恩等,遥感图像中基于视觉显著性的分层目标检测.吉林大学学报,2007,37(3):625-629
[42] BremnerJ F.Automaticvisioninspectionsystemfortheinspectionofshapescutin sheet material, Proceedings On Image Processing and itsApplications.1986:40-43
[43] M M Landman,S J Roberton.A flexible industrial system for automatedthree-dimensionalinspection,SPIE.1986,728:203-209
[44] MillsR.Developmentofaline-scancamerafor2Dhighaccuracymeasurement,MachineVision.1991:267-277
[45] L. Angrisani, P. Daponte, A. Pietrosanto etc..An image-based measurementsystem for the characterisation of automotive gaskets. Measurement1999,25(3)169-181
[46] D. Kosmopoulos, T. Varvarigou。Automated inspection of gaps on theautomobile production line through stereo vision and specular reflection.ComputersinIndustry,2001,46(1):49-63
[47] [49] F. Lahajnar, F. Pernus, S. Kovacic et al. Machine vision system forinspectingelectricplates.ComputerinIndustry,200247:113-122
[48] J. Jurkovic, M. Korosec, J. Kopac. New approach in tool wear measuringtechniqueusingCCDvisionsystem. International Journal ofMachineTools andManufacture,2005,4(9):1023-1030
[49] Dimitris Gorpas, Kostas Politopoulos, Dido Yova. A binocular machine visionsystem for three-dimensional surface measurement of small objects.ComputerizedMedicalImagingandGraphics,2007,31(8):625-637
[50] http://www.pptvision.com
[51]先武,张裕,李利平.机器视觉检测滚子表面缺陷.轴承,1991,6:39-43
[52]段发阶,叶声华,王春和等,拔丝模孔形计算机视觉检测技术.光电工程.1996,23(3):72-76
[53]单越康,卫力,毛谦敏,复杂几何形状零件自动检测.中国计量学院学报,1997, 2:38-47
[54]阮晓东,李世伦,诸葛良等,用立体视觉测量多自由度机械装置姿态的研究.中国机械工程,2000,11(5):571-573
[55]张爱武,李明哲,胡少兴等,基于计算机视觉的板类零件曲面测量系统.中国图象图形学报,2002,7(2):190-195
[56]黄劼,周肇飞,机器视觉精密测量系统研究.光学技术,2004,30(4):491-494
[57]张少军,苟中魁,李庆利等,利用数字图像处理技术测量直齿圆柱齿轮几何尺寸.光学精密工程,2004,12(6):619-625
[58]张广军,周富强,基于双圆特征的无人机着陆位置姿态视觉测量方法.航空学报,2005,26(3):344-348
[59]高学海,徐科军,张瀚,基于单目视觉和激光测距仪的位姿测量算法.仪器仪表学报,2007,28(8):1479-1485
[60]孟偲,王田苗,丑武胜,基于手眼视觉的测量与定位方法的研究与实现.中国空间科学技术,2002,12(6):18-25
[61] L. Franci, B.ROK, P. Franjoet, Machine vision system for inspecting electricplates.ComputersinIndustry,2002,47(1):113-122
[62]陶声祥,吴宜灿,基于双目视觉测量的放疗位置验证方法研究.核技术,2007,30(3):219-221
[63]陆建峰,杨静宇,胡雪蕾等,计算机辅助肺部小病灶穿刺定位系统的建立.临床肿瘤学杂志,2001,6(4):314-316
[64]彭刚,黄心汉,王敏等,基于视觉引导和超声测距的运动目标跟踪和抓取.高技术通讯,2002,12(6):74-78,82
[65] Perks,Andrew,Advancedvisionguidedrobotics provide"future-proof"flexibleautomation.Partsfeedingandpartspresentation,2006,26(3):216-220
[66] http://www.costind.gov.cn/n435777/n435943/n435949/n435995/129209.html
[67] SholnikM.I.FiftyYearsofRadar.ProceedingsoftheIEEE,1985,73(2):182-197
[68] Tronin A.A, Remote sensingand earthquakes: Areview. Physics and ChemistryoftheEarth,2006,31(4-9):138-142
[69]周伯行,国内外雷达发展现状与水平.现代雷达,1996(6):6-15
[70] Varian Russell H., Varian Sigurd F., A High Frequency Amplifier andOscillator. Journal of Applied Physics,1939,10:140
[71]林福民,大功率宽带多注速调管输出段的研究:[博士论文] ,北京;中国科学院研究生院,2003
[72]电子管设计手册编缉委员会,大功率速调管设计手册,北京:国防工业出版社,1979
[73]丁耀根,彭均,多注速调管——一种新型大功率微波放大器.电子科学学刊,1996,18(1):64-71
[74]丁耀根,多注速调管技术的新进展.真空电子技术,2002,8(5):8-15
[75]丁耀根,多注速调管电子光学系统的研究.电子科学学刊,2000,22(3):485-491
[76]丁耀根,朱允淑,殷岫龄,100kW L波段连续波多注宽带速调管的研究.中国电子学会真空电子学分会——第十四届年会论文集,2004,3-6
[77] Fishler MA, Bolles RC. Random sample consensus: a paradigm for modelfitting with applications to image analysis and automated cartography.CommunicationsoftheACM,1981,24(6):381-395
[78] Horaud R, Conio B, Leboulleux O. An analytic solution for the perspective4-point problem. Computer Vision Graphics and Image Processing, 1989,47:33-44
[79] Tang J L. On the number of solutions for the P4P problem. Journal ofMathematics,2006,26(2):137-141
[80] Haralick RM. Determining camera parameters from the perspective projectionofarectangle.PatternRecognition,1989,22(3):225-230
[81] PennaMA.Determiningcameraparametersfromtheperspectiveprojectionofaquadrilateral.PatternRecognition,1991,24(6):533-541
[82] Quan L, Lan ZD, Linear N>= 4 point pose determination. Proceedings of theInternationalConferenceonComputerVision.1998.778-783
[83] Liu ML, Wong KH. Pose estimation using four corresponding points. PatternRecognitionLetters,1999,20(1):69-74
[84] Dhome M, Richetin M, Lapreste JT, Rives G. Determination of the attitude of3-D objects from a single perspective view. IEEE Transactions on PatternAnalysisandmachineIntelligence,1989,11(12):1265-1278
[85] Abidi MA, Chandra T. A new efficient and direct solution for pose estimationusing quadrangular targets: algorithm and evaluation. IEEE Transactions onPAMI,1995,17(5):534-538
[86]胡占义,雷成,吴福超,关于P4P问题的一点讨论.自动化学报,2001,27(6):770-776
[87] Hu ZY, Wu FC. A note on the number of solutions of the non-coplanar P4Pproblem. IEEE Transactions on Pattern Analysis and Machine Intelligence,2002,24(4):550-555
[88] Faig. W. Calibration of close-range photogrammetric systems: mathematicalformulation. Photogrammetric Engineering and Remote Sensing, 1975 ,41(12):1479-1486
[89] Tsai R Y. A versatile camera calibration technique for high-accuracy 3Dmachine vision metrology using off-the-shelf TV cameras and lenses. IEEEJournalofRoboticsandAutomation,1987,RA-3(4):323-344
[90] Wang L L, Tsai W H. Camera calibration by vanishing lines for 3-D computervision. IEEE Transactions on Pattern Analysis and Machine Intelligence,1991,13(4):370-376
[91] Guiducci A. 3D road reconstruction from a single view. Computer Vision andImageUnderstanding,1998,70(2):212-226
[92]姜大志,孙俊兰,郁倩,标准图形法求解相机镜头非线性畸变的研究.东南大学学报,2001,31(4): 111-116
[93]马颂德,张正友,计算机视觉—计算理论与算法基础,北京:科学出版社,1998.52-93
[94] PRESCOTT B, MCLCAN G. Line-based correction of radial lens distortion.GraphicalModelsandImageProcessing,1997,59(1):39-47
[95] DEVERNAY F, FAUGERASO. Straight lines have to be straight. MachineVisionandApplications,2001,13(1):14-24
[96]郑毅,刘上乾,利用直线特征的定标图像非线性畸变校正.仪器仪表学报,2007,28(8):1479-1485
[97]刘君,刘江春,晏克俊,光学三角法高精度自动调焦系统设计.西安理工大学学报, 2004,20(1):63-66
[98]胡涛,陈世哲,刘国栋等,显微视觉系统中自动调焦评价函数的选取.半导体光电,2006,27(2):216-220
[99]鲍歌堂,赵辉,陶卫,图像测量技术中几种自动调焦算法的对比分析.2004,39(1):120-124
[100] Subbaro M ,Choi T. Focusing Techniques. Optical Engineering ,1993 ,32(11):2824-2836
[101]康宗明,张利,谢攀,一种基于能量和熵的自动聚焦算法.电子学报,2003,31(4):552-555
[102]朱铮涛,黎绍发,陈华平,基于图像熵的自动聚焦函数研究.光学精密工程,2004,12(5):537-542
[103] Subbarao M , Tyan J K. Selecting the optimal focus measure for autofocusingand depth-f rom-focus. IEEE Trans. on Pattern Analysis and MachineIntelligence.1998,20(8):864-870
[104] Nayar S K,Nakagawa Y. Shape f rom focus . IEEE Trans. on Pattern AnalysisandMachineIntelligence,1994,16(8):824-831
[105] Harris C G, Stephens M J. Acombined corner and edge detector, ProceedingsofFourthAlveyVisionConference,Manchester,UK,1988:147-151
[106] P. Tissainayagam, D. Suter. Assessing the performance of corner detectors forpoint feature tracking applications. Image and Vision Computing, 2004, 22:663-679
[107]梁志敏,高洪明,王志江等,摄像机标定中亚像素级角点检测算法.焊接学报,2006,27(2):102-104
[108] Milan Sonka, Vaclav Hlavac, Roger Boyle. Image Processing, Analysis, andMachineVision.USA:ThomsonLearningandPTPress,1998.60-62
[109] Edward P Lyvers, Owen Robert Mitchell Subpixel Measurements Using aMoment-Based Edge Operator. IEEE Transactions on Pattern Analysis andMachineIntelligence,1989,11(12):1293-1307
[110]王建民,浦昭邦,尹继学,空间矩亚像素细分算法的研究.光学技术,1999,4:3-6
[111] Moura L, Kitney R. A Direct Method for Least-Squares Circle Fitting.ComputerPhysicsCommunications,1991,64(1):57-63
[112]邓聚龙,灰色控制系统,武汉:华中理工大学出版社,1993
[113]傅立,灰色系统理论及其应用,北京:科学技术文献出版社,1992
[114]刘思峰,郭天榜,党耀国等,灰色系统理论及其应用,北京:科学出版社,1999
[115]杨丽娟,李国勇,马志芳,步长自调整的预测模糊控制器的研究.太原理工大学学报,2006,37(5):536-538
[116]肖聚亮,建筑物迁移动力系统智能监控研究与应用:[博士论文] ,天津;天津大学,2006
[117]邹健,诸静,智能预测控制及其应用研究:[博士论文] ,浙江;浙江大学,2002
[118] E. Q. Zhang, Z. X. Weng. Recent Researches and Developments on FuzzyControlSystem.ControlTheoryandApplications.2001,18(1):7-11
[119]邹键,杨莹春,诸静,基于灰色模型的预测模糊控制策略及其应用研究.中国电机工程学报,2002,22(9):12-14
[120] HM Feng,CC Wong,A on-line rule tuning grey prediction fuzzy controlsystem design,Proceedings of the 2002 International Joint Conference onNeuralNetworks,2002,5:1316-1321
[121] RJLian,BFLin,JHHuang,Agreypredictionfuzzycontrollerforconstantcuttingforceinturning,Machinetool&Manufacture,2005,45:1047-1056
[122] YPHuang,CHHuang,Agenetic-basedfuzzygreypredictionmodel,IEEEInternationalConferenceon“Intelligentsystemforthe21Century”,1995,10:1051-1056
[123]王军平,王安,敬忠良等,Fuzzy-grey预测控制算法及应用.系统工程理论与实践,2002,8:132-135
[124]李言旭,孙德新,刘银年,基于多项式拟合的红外焦平面非均匀性校正.红外与激光,2005,35(2):104-107
[125] F. Cazals, M. Pouget, Estimating differential quantities using polynomialfitting of osculating jets, Computer Aided Geometric Design,2005,22(2):121-146
[126] Feng Gan, Guihua Ruan, Jinyuan Mo, Baseline correction by improvediterative polynomial fitting with automatic threshold, Chemometrics andIntelligentLaboratorySystems, 2006,82(2):59-65
[127]赵文彬,杨福增,张艳宁,基于多项式拟合的颅骨特征识别.北京生物医学工程,2007,26(5):454-457
[128]余志强,刘建华,何朝峰等,巴特沃兹数字滤波及其在智能测控系统中的应用.电测与仪表,2007,44(5):5-8
[129]王彤,刘相华,王国栋等,热轧带钢厚差诊断专家系统的数据采集与处理系统.中国有色金属学报,1999,9(4):873-877
[130] RogerG.T.Mello,Liliam F.Oliveira,JurandirNadal,DigitalButterworthfilterfor subtracting noise from low magnitude surface electromyogram. ComputerMethodsandProgramsinBiomedicine, 2007,87(1):28-35
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |